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首页> 外文期刊>International Journal of Robust and Nonlinear Control >Continuous output-feedback finite-time control for a class of second-order nonlinear systems with disturbances
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Continuous output-feedback finite-time control for a class of second-order nonlinear systems with disturbances

机译：一类具有扰动的二阶非线性系统的连续输出反馈有限时间控制

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摘要

In this paper, a solution to the continuous output-feedback finite-time control problem is proposed for a class of second-order MIMO nonlinear systems with disturbances. First, a continuous finite-time controller is designed to stabilize system states at equilibrium points in finite time, which is proven correct by a constructive Lyapunov function. Next, because only the measured output is available for feedback, a continuous nonlinear observer is presented to reconstruct the total states in finite time and estimate the unknown disturbances. Then, a continuous output-feedback finite-time controller is proposed to track the desired trajectory accurately or alternatively converge to an arbitrarily small region in finite time. Finally, proposed methods are applied to robotic manipulators, and simulations are given to illustrate the applicability of the proposed control approach. Copyright (C) 2015 John Wiley & Sons, Ltd.
机译：针对一类具有扰动的二阶MIMO非线性系统，提出了一种连续输出反馈有限时间控制问题的解决方案。首先，设计了一个连续的有限时间控制器以在有限时间内将系统状态稳定在平衡点上，这通过构造性Lyapunov函数证明是正确的。接下来，由于仅测量的输出可用于反馈，因此提出了一个连续的非线性观察器以在有限时间内重构总状态并估计未知干扰。然后，提出了一种连续的输出反馈有限时间控制器，以精确地跟踪所需的轨迹，或者在有限的时间内收敛到任意小的区域。最后，将所提出的方法应用于机器人操纵器，并进行了仿真，以说明所提出的控制方法的适用性。版权所有（C）2015 John Wiley＆Sons，Ltd.

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